version: 66.07
glider: 33
mission: 12
dive: 8
start: 4 13 110 1 44 25
data:
$ID,33
$MISSION,12
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,4005
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-210838.52
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,20
$C_ROLL_DIVE,1840
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.29522699
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,151
$AH0_10V,122.2
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.378853
$PRESSURE_SLOPE,0.00093601202
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,130410,014006,4806.305,-12222.368,30,1.0,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-65.5
$GPS2,130410,014332,4806.312,-12222.393,15,1.6,15,18.3
$SPEED_LIMITS,0.100,0.358
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.230,-0.274
$KALMAN_X,-494.3,185.9,-87.4,833.1,-451.4
$KALMAN_Y,397.2,-283.6,80.0,-2390.1,535.9
$MHEAD_RNG_PITCHd_Wd,121.7,755,-12.4,-10.000
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.14,-293.3,0.0,0.0,0,123,0.00,0.00,-106.00,0.000,2,0.000,0.000,24,1841,2065,0,0,0,0,0,0
$GC,125,-1.14,-293.3,3.2,-2.5,21,247,7.88,1.25,-107.00,0.000,4,0.206,0.127,1466,2546,3611,0,0,0,0,0,0
$GC,292,-1.14,-293.3,13.8,-11.1,53,298,0.00,1.25,0.00,0.000,6,0.000,0.114,1466,1839,3611,0,0,1,0,0,0
$GC,364,-1.14,-293.3,21.5,-10.6,65,368,0.00,1.25,0.00,0.000,4,0.000,0.119,1466,1137,3611,0,0,0,0,0,0
$GC,419,-1.14,-293.3,27.5,-10.5,70,423,0.00,1.23,0.00,0.000,6,0.000,0.107,1466,1835,3611,0,0,1,0,0,0
$GC,558,-1.14,-293.3,42.8,-10.7,83,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,1838,3611,0,0,0,0,0,0
$GC,685,-1.14,-293.3,56.5,-10.4,95,689,0.00,1.27,0.00,0.000,4,0.000,0.119,1466,1133,3611,0,0,0,0,0,0
$GC,763,-1.14,-293.3,64.4,-10.6,102,767,0.00,1.25,0.00,0.000,6,0.000,0.109,1466,1841,3611,0,0,1,0,0,0
$GC,902,-1.14,-293.3,78.3,-9.5,115,905,0.00,1.25,0.00,0.000,4,0.000,0.132,1466,2537,3611,0,0,0,0,0,0
$GC,946,-1.14,-293.3,83.1,-10.0,119,950,0.00,1.25,0.00,0.000,6,0.000,0.119,1466,1837,3611,0,0,1,0,0,0
$GC,1084,-1.14,-293.3,97.1,-10.4,132,1088,0.00,1.25,0.00,0.000,4,0.000,0.122,1466,1134,3611,0,0,0,0,0,0
$GC,1173,-1.14,-293.3,106.2,-10.7,140,1178,0.00,1.23,0.00,0.000,6,0.000,0.107,1466,1829,3611,0,0,1,0,0,0
$GC,1312,-1.14,-293.3,119.4,-9.2,153,1316,0.00,1.27,0.00,0.000,4,0.000,0.132,1466,2543,3611,0,0,0,0,0,0
$GC,1570,-1.14,-293.3,122.6,-0.9,176,1573,0.00,1.25,0.00,0.000,6,0.000,0.122,1466,1841,3611,0,0,1,0,0,0
$GC,1708,-1.14,-293.3,122.5,-0.1,189,1712,0.00,1.27,0.00,0.000,4,0.000,0.129,1466,2536,3611,0,0,1,0,0,0
$STATE,1785,end dive,NO_VERTICAL_VELOCITY
$STATE,1785,begin apogee
$GC,1790,-0.31,0.0,122.4,0.0,196,2003,0.77,0.00,208.15,0.899,6,0.089,0.000,1656,1838,2617,0,0,0,0,0,0
$STATE,2003,end apogee,CONTROL_FINISHED_OK
$STATE,2003,begin climb
$GC,2005,1.14,293.3,122.5,0.0,217,2221,1.35,1.30,208.75,0.867,4,0.089,0.122,1967,1137,1623,0,0,0,0,0,0
$GC,2343,1.14,293.3,90.9,12.4,249,2350,0.00,1.30,0.00,0.000,6,0.000,0.107,1967,1845,1623,0,0,1,0,0,0
$GC,2477,1.14,293.3,74.1,12.4,262,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1846,1623,0,0,0,0,0,0
$GC,2605,1.14,293.3,57.9,12.7,274,2608,0.00,1.27,0.00,0.000,4,0.000,0.122,1967,1143,1623,0,0,0,0,0,0
$GC,2727,1.14,293.3,42.0,13.3,285,2731,0.00,1.23,0.00,0.000,6,0.000,0.109,1967,1836,1623,0,0,1,0,0,0
$GC,2866,1.14,293.3,25.0,11.7,298,2869,0.00,1.27,0.00,0.000,4,0.000,0.122,1967,1137,1623,0,0,0,0,0,0
$GC,2955,1.14,293.3,14.4,11.7,310,2961,0.00,1.23,0.00,0.000,6,0.000,0.112,1967,1831,1623,0,0,1,0,0,0
$GC,3028,1.14,293.3,6.1,11.1,323,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1835,1623,0,0,0,0,0,0
$STATE,3053,end climb,SURFACE_DEPTH_REACHED
$STATE,3053,begin surface coast
$FINISH,0.7,1.017448
$STATE,3094,end surface coast,CONTROL_FINISHED_OK
$STATE,3094,begin surface
$SM_CCo,3108,142.82,0.807,0,0,923,500.11
$SM_GC,1.37,0.00,0.00,142.82,0.000,0.000,0.807,23,1835,923,-7.81,-0.14,500.11
$IRIDIUM_FIX,4748.51,-12220.12,061011,191948
$TT8_MAMPS,0.021721
$HUMID,1078023861
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.5
$24V_AH,24.0,51.687
$10V_AH,10.3,10.712
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.050,25.125,416.900,142.825,0.000,27.506,26.690,85.281,3.000,0.000,16.208,522.201,1401.697,657.244,855.774,36.844,33.337,1102.667,0.000,645.898,0.000,24.602,0.000
$DEVICE_MAMPS,206.089,131.599,898.846,806.975,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.664,0.000,510.591,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323552
$DATA_FILE_SIZE,16873,335
$CAP_FILE_SIZE,54754,0
$CFSIZE,260280320,256675840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,130410,023919,4806.043,-12222.181,9,1.5,9,18.3